相关论文: Hybrid model for the analysis of human gait: a non…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…

A central task in the analysis of human movement behavior is to determine systematic patterns and differences across experimental conditions, participants and repetitions. This is possible because human movement is highly regular, being…

Quantification of human movement is a challenge in many areas, ranging from physical therapy to robotics. We quantify of human movement for the purpose of providing automated exercise coaching in the home. We developed a model-based…

Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…

The aim of our study is to detect balance disorders and a tendency towards the falls in the elderly, knowing gait parameters. In this paper we present a new tool for gait analysis based on markerless human motion capture, from camera feeds.…

In this paper we present recent results on parametric analysis of biological models. The underlying method is based on the algorithms for computing trajectory sets of hybrid systems with polynomial dynamics. The method is then applied to…

Biomechanics and human movement research often involves measuring multiple kinematic or kinetic variables regularly throughout a movement, yielding data that present as smooth, multivariate, time-varying curves and are naturally amenable to…

Humans typically walk at low speeds and run at higher speeds. Previous studies of transitions between walking and running were mostly on treadmills, but real-world locomotion allows more flexibility. Here, we study overground locomotion…

Predicting human mobility flows at different spatial scales is challenged by the heterogeneity of individual trajectories and the multi-scale nature of transportation networks. As vast amounts of digital traces of human behaviour become…

This paper introduces a spatially continuous force-based model for simulating pedestrian dynamics. The main intention of this work is the quantitative description of pedestrian movement through bottlenecks and in corridors. Measurements of…

In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which considers both…

This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…

We present a strategy capable of describing basic features of the dynamics of crowds. The behaviour of the crowd is considered from a twofold perspective. We examine both the large scale behaviour of the crowd, and phenomena happening at…

We present a stochastic model of gait rhythm dynamics, based on transitions between different ``neural centers'', that reproduces distinctive statistical properties of normal human walking. By tuning one model parameter, the hopping range,…

We present a nonlinear stochastic model of the human gait control system in a variety of gait regimes. The stride interval time series in normal human gait is characterized by slightly multifractal fluctuations. The fractal nature of the…

Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…

Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…

In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…